AF2: SDOF Harmonic response example report.

José Ángel Ferreyra Ríos 1850141

Universidad Autónoma de Nuevo León, Facultad de Ingeniería Mecánica y Eléctrica,
Ingeniería en Aeronáutica.
Aeroelasticidad, 002, Ing. Diego Fransisco Ledezama Ramírez, 13/09/2021

Abstract— In this electronic document, it is tried to realize and to analyze single degree of freedom systems by means of the harmonic
response like behavior.

I. INTRODUCTION
A single degree of freedom system is the most simplified dynamic system that can exist; therefore, the analysis of its
behavior is the beginning of the explanation of a real three-dimensional behavior. Harmonic excitation refers to a
sinusoidal external force of a certain frequency applied to a system. The response of a system to harmonic excitation is a
very important topic because it is encountered very commonly and covers the concept of resonance. Resonance occurs
when the external excitation has the same frequency as the natural frequency of the system. It leads to large displacements
and can cause a system to exceed its elastic range and fail structurally.
A simple degree of freedom system will always consist of a spring that provides the representation of the stiffness of the system,
which is the opposition to movement, and in some cases, a damping system that will be in charge of deciphering the external force
that alters the system. The response of a system depends on the intervening external force and the configuration of stiffness and
damping.

II. RESOLUTION OF THE PROBLEMS.

Solve the following exercises. Perform all the necessary steps, validate your assump;ons, and provide enough reasoning for your
solution.
A.
1. The static displacement of a system with a motor weight of 385.6 kg is found to be 0.0254 mm. Determine the natural
frequency of vertical vibrations of this system.

As we can observe the system, we can assume that the force acting directly in the movement of the mass must be the gravity:
𝑚
𝐹(𝑡) = 𝑚𝑔 = (385.6 𝑘𝑔) (9,8 )
𝑠
𝐹(𝑡) = 3778.88 𝑁
From the Hook law, the stiffness of the system must be as following:
𝐹 = 𝑘𝑥
Where the k is the stiffness of the system, the x represents the distance as the static displacement and the F is the force acting in the
system. Then, as we have the force and the displacement of the system, we can clear the stiffness.
𝐹 3778.88 𝑁 𝑁
𝑘= = = 148774803.1
𝑥 2.54𝑥105 𝑚 𝑚
This stiffness of the system must be used to find the natural frequency of the vertical vibration.
𝑁
𝑘 √148774803.1 𝑚
𝜔𝑛 = √ =
𝑚 385.6 𝑘𝑔
 𝑟𝑎𝑑
𝜔𝑛 = 621.149
𝑠
Or
𝑟𝑎𝑑
𝜔𝑛 621.149 𝑠
𝑓= =
2𝜋 2𝜋
𝑓 = 98.859 𝐻𝑧
2. An instrument's needle indicator has a rotary inertia of 1.4 x 10^6 kg-m2. It is attached to a torsion spring whose stiffness
is 1.1 x10^-5 N-m/rad and a viscous damper of coefficient c. What is the value of c needed so that the needle is critically
damped?
Since we have a system with critical damping, then 𝜁 = 1.
From the damping ratio formula, we can substitute this 1 value of the critical damping and clear the damping factor.
𝑐
𝜁=
2√𝑘𝐽
𝑐
1=
2√𝑘𝐽
𝑐 = 2√𝑘𝐽
Then we can substitute all the values given as data from the system.
1.1𝑥10−5 𝑁𝑚
𝑐 = 2√(1.4𝑥106 𝑘𝑔𝑚2 ) ( )
𝑟𝑎𝑑
𝑁𝑚
𝑐 = 7.8485
𝑟𝑎𝑑
𝑠

3. An automobile exhibits a vertical oscillating displacement of maximum peak amplitude 5 cm and a measured maximum
peak acceleration of 2000 cm/s2. Assuming that the automobile can be modeled as a single-degree-of-freedom system in
the vertical direction, calculate the natural frequency of the automobile.
The formula of the maximum acceleration of the system is as following:
𝑥̈ = 𝐴𝜔𝑛
As we know this acceleration and the magnitude of the amplitude, we can clear the natural frequency.
𝑥̈
𝜔𝑛2 =
𝐴
𝑐𝑚
𝑥̈ √2000 𝑠
𝜔𝑛 = √ =
𝐴 5 𝑐𝑚
𝑟𝑎𝑑
𝜔𝑛 = 20
𝑠
4. Choose one (any) of the last three cases and plot the free response considering three viscously damped scenarios. Assume
any missing or needed data explaining your reasoning and discuss the results.
We going to use the first case, where we have a static displacement of a motor and, from the resolution of the problem, we have the
following data:
• Mass: 385.6 kg
𝑁
• k=148774803.1
𝑚
We must analyze 3 cases of damping of this system. We must try analyzing a underdamped, critically damped and overdamped.
- Underdamped
As we are using the script materials from class, we need a value of damping to analyze the system. As we know, a underdamped
system means that the damping ratio must be less than 1, it means that the system will not reach the stable state in a short time.
We going to take a damping ratio 𝜁 = 0.1.
 Figure 1. Underdamped response.
We can realize that as an underdamped system does not completely reach the stablished one at rest, the system remains infinitely
oscillating in a discrete way. Due to the high rigidity of the system compared to the total mass, the system has a noticeable instability
for too short a time, the same rigidity of the system causes the system to lower the amplitude of the instability to be oscillating less
noticeably.
- Critically damped
For this case we must give the damping ratio value in 1, this means that it will not cancel the instability, but ether must have an
instability so notorious.

Figure 2. Critically damped response.

As we can compare, the critically damped response does not have a behavior outside the instability ranges, so it can be controlled,
however, if we zoom in on the stability of the system, we can realize that the system did not arrive completely. stability, as there
are still oscillations of an amplitude that are too small.
 Figure 3. Zoom.in of the critically damped system.

- Overdamped
In this case, a damping radius greater than 1 should be used. This will cause a system that cancels the instability of the input as a
response completely, leaving us with a behavior that does not oscillate, however it takes longer to reach the stable state than the
critically damped.

Figure 4. Overdamped response.

We can see that the response of an overdamped system takes much less time to reach a state of rest than the previous cases. It also
does not oscillate due to the high stiffness and high damping.

B.
2. A body of mass 100 kg is suspended by a spring of stiffness of 30 kN/m and dashpot of damping constant 1000 N-s/m.
Vibration is excited by a harmonic force of amplitude 80 N.

a. Obtain the equation for steady state amplitude response (displacement,) in terms of the external forced frequency.
From the equation of motion of the mass-stiffness-damping single degree of freedom system, we have the following:
𝑚𝑥̈ + 𝑐𝑥̇ + 𝑘𝑥 = 𝐹𝑠𝑖𝑛(𝜔𝑡)
Representing sinusoidal force using CEN and a response has the same from than excitation.
𝐹(𝑡) = 𝐹𝑒 𝑖𝜔𝑡
Displacement of
𝑥(𝑡) = 𝑋𝑒 𝑖𝜔𝑡
Velocity of
𝑥̇ (𝑡) = 𝑖𝜔𝑋𝑒 𝑖𝜔𝑡
And acceleration of
𝑥̈ (𝑡) = −𝜔2 𝑋𝑒 𝑖𝜔𝑡
Replacing all these representing solutions we can rewrite the motion equation of the system as following:
−𝑚𝜔2 𝑋𝑒 𝑖𝜔𝑡 + 𝑖𝜔𝑐𝑋𝑒 𝑖𝜔𝑡 + 𝑘𝑋𝑒 𝑖𝜔𝑡 = 𝐹𝑒 𝑖𝜔𝑡
Using algebraic clarence for the equation.
𝑋𝑒 𝑖𝜔𝑡 (−𝑚𝜔2 + 𝑖𝜔𝑐 + 𝑘) = 𝐹𝑒 𝑖𝜔𝑡
 𝑋𝑒 𝑖𝜔𝑡 (−𝑚𝜔2 + 𝑖𝜔𝑐 + 𝑘)
=𝐹
𝑒 𝑖𝜔𝑡

𝑋(−𝑚𝜔2 + 𝑖𝜔𝑐 + 𝑘) = 𝐹
𝑋 1
=
𝐹 (−𝑚𝜔 2 + 𝑖𝜔𝑐 + 𝑘)
This last equation must be the Steady State Amplitude response.
b. Calculate the amplitude of the displacement for the vibration and the phase angle between the displacement and the
excitation force. Assume three operating frequencies, one below resonance, one at resonance, and other well after
resonance. Validate and explain the meaning of your answer graphically locating the three responses on the FRF plot.
We have the following data:
• Mass 𝑚 = 100𝑘𝑔
𝐾𝑁 𝑁
• Stiffness 𝑘 = 30 = 30000
𝑚 𝑚
𝑁−𝑠
• Damping constant 𝑐 = 1000
𝑚
• Harmonic force amplitude 𝐹 = 80 𝑁

The first step must be calculating the frequency of the system as following:
𝑁
𝑘 √30000 𝑚
𝜔=√ =
𝑚 100 𝑘𝑔
𝑟𝑎𝑑
𝜔 = 17.32
𝑠
Case 1: In resonance (r=1)
From the steady steady amplitude, we can substitute the given data to calculate the amplitude of the displacement for the vibration.

𝑋 1
| |=
𝑋0 2
2 2
√(1 − ( 𝜔 ) ) + (2𝜁 𝜔 )
𝜔𝑛 𝜔𝑛
The damping of the system
𝑁−𝑠
𝑐 1000
𝜁= = 𝑚 = 0.288
2√𝑚𝑘 𝑁
2√(100𝑘𝑔) (30000 )
𝑚
Then,
𝑋 1
| |=
𝑋0 2
√(1 − (1)2 )2 + (2(0.288)(1))
𝑋
| | = 5.2327 𝑚
𝑋0
And for the phase angle
𝜔
2𝜁
−1 𝜔𝑛
𝜙 = tan
𝜔 2
1−( )
𝜔𝑛
2(0.288)
𝜙 = tan−1
1 − (1)2
𝜙 = 1.57
 Figure 5. Steady State Amplitude by resonance when r=1.

Figure 6. Phase angle when the system is in resonance (r=1).

Case 2: before resonance (r<1).

This case we will use a r value of 0.5 to realize the formulation as the case 1.

𝑋 1
| |=
𝑋0 2
√(1 − (0.5)2 )2 + (2(0.288)(0.5))
𝑋
| | = 1.244 𝑚
𝑋0
𝜔
2𝜁
𝜔 𝑛
𝜙 = tan−1
𝜔 2
1−( )
𝜔𝑛
2(0.288)(0.5)
𝜙 = tan−1
1 − (0.5)2
𝜙 = 0.366

Figure 7. Phase angle when r=0.5.

 Figure 8. Amplitude when r=0.5.

Case 3: after resonance (r>1).

This case we will use a r value of 1.5 to realize the formulation as the case before.

𝑋 1
| |=
𝑋0 2
√(1 − (1.5)2 )2 + (2(0.288)(1.5))
𝑋
| | = 0.4330 𝑚
𝑋0
𝜔
2𝜁
−1 𝜔𝑛
𝜙 = tan
𝜔 2
1−( )
𝜔𝑛
2(0.288)(1.5)
𝜙 = tan−1
1 − (1.5)2
𝜙 = −0.6047

Figure 9. Phase angle when r=1.5.

Figure 10. Amplitude when r=1.5.

As can be seen from Figure 7 to Figure 10, the results of the manual mathematical method do not give the system the same behavior
as in the simulation, the origin of the discrepancy is unknown. However, one of the reasons why the system does not show normal
resonance behavior is because the mass is too small compared to the stiffness coefficient and the damping coefficient, which does
not allow the mass to cause a noticeable resonance.

III. CONCLUSION
The behavior of a simple system of simple degree of freedom is necessary to understand phenomena that appear, however, the
systems seen in this document are merely demonstrative, since there are indirect forces that disturb the system in a three-dimensional
space. The importance of the phenomena studied during this document lie in the application in real life. Resonant systems can be
used to generate vibrations of a specific frequency (for example, musical instruments), or to choose specific frequencies from a
complex vibration that contains many frequencies (for example, filters). This way of studying phenomena in a unidirectional field
opens the way to the study of vibration in complex structures in the real world with specific industrial applications, but all of which
are based on the same principle.
IV. REFERENCES
[1] D. J. Inman. "Engineering Vibration", 3rd Edition. Upper Saddle River, NJ, 2008, Pearson Education, Inc.